cmake_minimum_required(VERSION 3.0.2)
project(scanlocation)

## Compile as C++11, supported in ROS Kinetic and newer
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_compile_options(-std=c++11)
add_compile_options(-std=c++14)


find_package(catkin REQUIRED COMPONENTS
  pcl_conversions
  pcl_ros
  roscpp
  sensor_msgs
        geometry_msgs
        tf2_geometry_msgs

        tf2_ros
        tf2
        tf
        contnav_msgs
        contnav_srvs
        cv_bridge
        image_transport
)


# 寻找OpenCV库
#set(OpenCV_DIR /home/sukai/3rdparty/opencv4.5.0/build/install/lib/cmake/opencv4 )


find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})

find_package(PCL REQUIRED QUIET)
# OpenCV
find_package(OpenCV REQUIRED QUIET)
find_package(Eigen3 REQUIRED QUIET)

   message(STATUS "${OpenCV_LIBS}")
message(STATUS "------------------------------------")
 message(STATUS "${OpenCV_LIBRARIES}")
message(STATUS "------------------------------------")
 message(STATUS " ${OpenCV_INCLUDE_DIRS}")
message(STATUS "------------------------------------")
foreach (_variableName  ${OpenCV_LIBS}) #OpenCV_LIBRARIES

message(STATUS "================================================")
    message(STATUS "${_variableName}=${${_variableName}}")
message(STATUS "================================================")
endforeach()

 
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOMOC ON)

#include_directories( ${OpenCV_INCLUDE_DIRS})

#find_package(Eigen REQUIRED)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   sensor_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES lesson2
#  CATKIN_DEPENDS pcl_conversions pcl_ros roscpp sensor_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########
###================================

#add_library(lesson_common_node src/common/common.cpp)



## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
  ${catkin_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
        ${OpenCV_INCLUDE_DIRS}

    ${EIGEN_INCLUDE_DIRS}
    #  /usr/include/eigen3
#/usr/local/include/opencv4
#/home/sukai/3rdparty/opencv4.5.0/build/install/include
#/usr/local/include/opencv
#/usr/local/include/opencv2
)

#include_directories(/usr/include/eigen3)


add_subdirectory(src/common)
include_directories(./src/common)

add_subdirectory(src/log)
include_directories(./src/log)
##-------------------------------------

add_executable(scan_to_pointclod2_to_png_initialPose_node
       src/pcd2png/scan_to_pointclod2_to_png.cpp )

target_link_libraries(scan_to_pointclod2_to_png_initialPose_node
       ${catkin_LIBRARIES}    ${PCL_LIBRARIES}  log_node chargeprojectplc_common_node ${OpenCV_LIBRARIES}
       )


add_executable(test_node
        src/test.cpp )

target_link_libraries(test_node
        ${catkin_LIBRARIES}  ${OpenCV_LIBRARIES}
        )
